CN104796055A - Touch screen control and drive integrated four-axis steeping motor closed-loop control system - Google Patents
Touch screen control and drive integrated four-axis steeping motor closed-loop control system Download PDFInfo
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- CN104796055A CN104796055A CN201510077771.5A CN201510077771A CN104796055A CN 104796055 A CN104796055 A CN 104796055A CN 201510077771 A CN201510077771 A CN 201510077771A CN 104796055 A CN104796055 A CN 104796055A
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Abstract
A touch screen control and drive integrated four-axis steeping motor closed-loop control system comprises stepping motors in four axes, mechanical type absolute value encoders and a touch screen control and drive integrated processor. The mechanical type absolute value encoders and the stepping motors coaxially feed back the running positions of the stepping motors so that that closed-loop control system can be formed. The processor is responsible for collecting and processing signals of the encoders, driving the stepping motors, separating instructions of movement sequences of the stepping motors, and achieving the man-machine interaction function of a touch screen. The four stepping motors sequentially execute instructions of a controller but do not run at the same time, and the movement characteristics of the motors are different. The touch screen control and drive integrated four-axis steeping motor closed-loop control system has the advantages that the stepping motors are controlled according to the servo control principle so that closed-loop control can be achieved, the phenomenon of step losing or overshooting can be avoided, and the control performance can be more reliable; the mechanical type absolute value encoders are adopted, and therefore no outage storage is needed, and no error accumulation is caused; the processor integrates control and drive of the touch screen; multiple axes are controlled through one system, and cost is reduced.
Description
Technical field
The invention belongs to advanced manufacture and automatic control technology field.。
Background technology
Stepping motor is a kind of electromagnetic and mechanical device electric impulse signal being converted into angular displacement or displacement of the lines.The stability of stepping motor and reliability directly have influence on the precision of industrial control field.At present, the many employings of step motor control system, stepping motor, stepper motor driver, PLC(or other controllers) and touch-screen (or man-machine interaction product) form control system.A multi-axis control system by multiple stage stepping motor, also needs to configure to overlap control system during work when wherein every platform motor is different successively more.The system of such formation has following major defect: one, the control of stepping motor is opened loop control, easily occurs the phenomenon of losing step or stall when initiation culture is too high or load is excessive; Two, the components and parts kind forming step motor control system needs is many, and system is unstable, and take up room large, wiring is complicated; Three, when there being multiaxis to need to control in system, needing configuration to overlap control system more, and during motion, just causing the waste of resource when each motor is different, adding the cost of integral device.
Existing step motor control defect in view of the above, the present inventor furthers investigate for prior art, and has this case to produce.
Summary of the invention
The present invention is directed to the open loop characteristic that existing step motor control system easily loses step, components and parts kind is many, and hardware connection is comparatively complicated, control system high in cost of production weak point, the improvement of a kind of step motor control system of proposition.
The object of the invention is to propose a kind of touch screen control and drive 4 integrated shaft step motor closed-loop control systems.
The present invention solves the problems of the technologies described above by the following technical solutions:
Touch screen controls and drives 4 integrated shaft step motor closed-loop control systems, comprises four shaft step motors, mechanical type absolute value encoder, touch screen control driving integrated processor.Described mechanical type absolute value encoder is coaxial with stepping electricity, and feedback stepping motor run location forms closed-loop control system; Code device signal Acquire and process is responsible for by described processor, the driving of stepping motor and the control of motion mode, and the instruction of the sequence of motion of the stepping motor that four axles are corresponding is separated, and is integrated with touch-screen human-computer interaction function simultaneously.Each stepping motor corresponding to described four axles to the instruction of controller carry out order perform but each stepping motor corresponding to four axles is different time run, and the movement characteristic of motor is not identical yet.
Described touch screen controls to drive integrated processor to comprise, driving stepper motor unit, RS485 serial communication interface chip, controller CPU unit, touch screen human-computer interaction interface.
Described controller CPU unit connects driving stepper motor unit, RS485 serial communication interface chip, touch screen human-computer interaction interface respectively.Described RS485 serial communication interface chip is connected with described driving stepper motor unit.
Described driving stepper motor unit is responsible for the angular displacement signal pulse control signal that controller CPU unit sends being converted into stepping motor on the one hand, realizes the power amplification function that stepping motor is operated; Be responsible on the one hand processing motor encoder feedback signal, Inner Constitution position ring and speed ring, define closed-loop control, utilizes servo-controlled principle to carry out control step motor, avoid the phenomenon of losing step or overshoot occurring stepping motor, make control performance more reliable; Four stepping motors be responsible for connecting distribute different port numbers 1-4 on the other hand, and the controller CPU unit instruction of acquisition are identified, the actuating signal after conversion are distributed to and perform in requisition for the stepping motor run.By the process of software program in controller CPU unit, run when four motors are different, each port of such driver element is as good as with the driving force controlling single motor on electrical hardware interface, does not increase the hardware development cost of driver element.
Described RS485 serial communication interface chip is responsible for the signal of collection machinery formula absolute value encoder, feeds back to driver element and controller CPU unit.Described RS485 serial communication interface chip utilizes hardware RS485 interface to realize telecommunication, bus allows to connect multiple transceiver simultaneously, is connected to the mechanical type absolute value encoder that 4 have RS485 communication interface in the present invention.The electrical characteristic of a RS485 interface standard docking port makes regulation, makes it have versatility, but does not relate to connector, cable etc., and user can set up the high-level communications protocol of oneself on this basis.And the communication protocol that the foundation of this high-level communications protocol both can adopt existing application ripe, such as Modbus agreements etc., also can by the communication protocol of User Defined RS485.
The setting of described touch screen human-computer interaction interface primary responsibility initial parameter, the setting of packing of orders order, the display of current working, the display of warning message, and the generation of data sheet and preservation, also can need according to user the function developing more property.User only need by the motion mode Initialize installation of every platform stepping motor, and according to different job requirements, arrange the operation order of every platform motor, arranged successfully by parameter and instruction, system will automatically perform according to the setting of user.
Described controller CPU unit is responsible for the overall control of this system.Primary responsibility sends the motion control instruction (as displacement, speed, acceleration etc.) of driver element; Receive instruction carry out being separated to the packing of orders order that user is arranged and be stored in continuous print address space successively and the pulse signal exported required for stepping motor motion and direction signal; This controller provides all functions relevant with digital motion control, comprises the controlling functions that the stepping motors such as Position Control, speeds control and micro-step control are conventional; Read the mechanical type absolute value encoder feedback information of RS485 communication interface simultaneously, and feedback information is passed to touch screen and make user obtain service data intuitively; Make corresponding safeguard measure when there is anomaly and send alarm signal.
The advantage of technical solution of the present invention is: utilize servo-controlled principle to carry out control step motor and form closed-loop control, avoid the phenomenon of losing step or overshoot occurring stepping motor, make control performance more reliable; Adopt mechanical type absolute value encoder to preserve without the need to power-off, carry memory function, and error is without accumulation, strong anti-interference performance; Processor collection touch screen controls and drives integrated, has that volume is little, lightweight, working stability, the advantage that hardware connection is few; By a set of control system, control multiaxial motion, decrease the cost of control system.
accompanying drawing illustrates:
The description of above-mentioned advantage of the present invention and execution mode combines accompanying drawing below and will become clear and easy understand, wherein:
Fig. 1 is the present invention 4 shaft step motor closed-loop control system overall construction drawing;
Fig. 2 is Software for Design flow chart of the present invention.
embodiment:
The present invention 4 shaft step motor closed-loop control system overall construction drawing as shown in Figure 1.Comprise four shaft step motors, four mechanical type absolute value encoders, touch screens control to drive integrated processor.Described mechanical type absolute value encoder forms closed-loop control system with the coaxial stepping motor run location that feeds back of stepping electricity; Code device signal Acquire and process is responsible for by described processor, the driving of stepping motor and the control of motion mode, and the instruction of the sequence of motion of the stepping motor that four axles are corresponding is separated, and is integrated with touch-screen human-computer interaction function simultaneously.Each stepping motor corresponding to described four axles to the instruction of controller carry out order perform but each stepping motor corresponding to four axles is different time run.
Described touch screen controls to drive integrated processor to comprise, driving stepper motor unit, RS485 serial communication interface chip, controller CPU unit, touch screen human-computer interaction interface.
Described controller CPU unit connects driving stepper motor unit, RS485 serial communication interface chip, touch screen human-computer interaction interface respectively.Described RS485 serial communication interface chip is connected with described driving stepper motor unit.
If Fig. 2 is that touch screen of the present invention controls to drive Software for Design flow chart in integrated processor.
Touch screen of the present invention controls to drive Software for Design flow process in integrated processor as follows: 1, by touch screen human-computer interaction interface system initialization and by the zeros data of instruction memory address unit.Its object is to remove last instruction, in order to avoid cause misoperation.System initialization comprises the setting to four spindle motor different motion, as rotating speed, and position, direction, plus/minus speed etc.Editing one by one the motion mode of each spindle motor, and preserve, arranging if do not carried out, system default is the operational mode of the corresponding stepping motor of this axle last.
2, the packing of orders is set at touch screen interface, the sequence that packing of orders 0-4 is combined into alphabetical F for end code.Such as: instruction 10342F represents: after stepping motor 1 waits for the some time after performing instruction, stepping motor 3/4/2 performs an action in turn, and overall instruction performs end.1-4 representative wherein in instruction for the coding of action motor, 0 represent the duration needing wait to pre-set without motor action in this step after perform next step action.
3, whether legitimacy is combined in decision instruction.If if the instruction code that arranges of the instruction arranged by man-machine interface is undesirable will reset the packing of orders by reminding user; If instruction meets the requirements will carry out separation and sequential storage to instruction group, as instruction 10342F, 1 is stored in address 0100 so 0,3,4,2, F will be stored in 0101-0105.
4, instruction reading command memory address content successively after being separated, when address contents is not end code F, for the instruction of reading, the action that corresponding motor meeting executive program pre-sets, read the performance of the encoder feedback action with group simultaneously, when receiving the signal that instruction completes, (or after when address contents is 0, stepping motor wait pre-sets the time) reads address+1, until address contents is end code F EP (end of program).
Described controller CPU unit is responsible for the overall control of this system.This controller CPU unit achieves the control in turn to four shaft step motors by above-mentioned software flow.Primary responsibility sends the motion control instruction (as displacement, speed, acceleration etc.) of driver element (stepping motor); Receive packing of orders order that instruction arranges user carry out being separated and in turn storage and continuous print address space and with export stepping motor move required for pulse signal and direction signal; This controller provides all functions relevant with digital motion control, comprises the controlling functions that the stepping motors such as Position Control, speeds control and micro-step control are conventional; Read the mechanical type absolute value encoder feedback information of RS485 communication interface simultaneously, and feedback information is passed to touch screen and make user obtain service data intuitively; Make corresponding safeguard measure when there is anomaly and send alarm signal.
Claims (7)
1. touch screen controls and drives 4 integrated shaft step motor closed-loop control systems, comprises four shaft step motors, mechanical type absolute value encoder, touch screen control driving integrated processor.
2. mechanical type absolute value encoder forms closed-loop control system with the coaxial stepping motor run location that feeds back of stepping electricity according to claim 1; Code device signal Acquire and process is responsible for by described processor, the driving of stepping motor and the control of motion mode, and the instruction of the sequence of motion of the stepping motor that four axles are corresponding is separated, and is integrated with touch-screen human-computer interaction function simultaneously; Each stepping motor corresponding to described four axles to the instruction of controller carry out order perform but each stepping motor corresponding to four axles is different time run, and the movement characteristic of motor is not identical yet.
3. touch screen described in controls to drive integrated processor to comprise, driving stepper motor unit, RS485 serial communication interface chip, controller CPU unit, touch screen human-computer interaction interface.
4. driving stepper motor unit is responsible for the angular displacement signal pulse control signal that controller CPU unit sends being converted into stepping motor on the one hand according to claim 3, realizes the power amplification function that stepping motor is operated; Be responsible on the one hand processing motor encoder feedback signal, Inner Constitution position ring and speed ring, define closed-loop control, utilizes servo-controlled principle to carry out control step motor, avoid the phenomenon of losing step or overshoot occurring stepping motor, make control performance more reliable; Four stepping motors be responsible for connecting distribute different port numbers 1-4 on the other hand, and the controller CPU unit instruction of acquisition is identified, actuating signal after conversion is distributed to and performs in requisition for the stepping motor run, by the process of software program in controller CPU unit, four motors run time different, the each port of such driver element is as good as with the driving force controlling single motor on electrical hardware interface, does not increase the hardware development cost of driver element.
5. RS485 serial communication interface chip is responsible for the signal of collection machinery formula absolute value encoder according to claim 3, feed back to driving chip and controller CPU unit, RS485 serial communication interface chip utilizes hardware RS485 interface to realize telecommunication, bus allows connect in multiple transceiver the present invention to be namely connected to the mechanical type absolute value encoder that 4 have RS485 communication interface simultaneously, the electrical characteristic of a RS485 communication interface standard docking port makes regulation, make it have versatility, but do not relate to connector, cable etc., user can set up the communication protocol that the high-level communications protocol of oneself and the foundation of this high-level communications protocol both can adopt existing application ripe on this basis, such as Modbus agreement etc., also can by the communication protocol of User Defined RS485.
6. according to claim 3 touch screen human-computer interaction interface primary responsibility initial parameter setting, the packing of orders order setting, the display of current working, the display of warning message, and the generation of data sheet and preservation, also can need according to user the function developing more property, user only need by the motion mode Initialize installation of every platform stepping motor, according to different job requirements, the operation order of every platform motor is set, arranged successfully by parameter and instruction, system will automatically perform according to the setting of user.
7. controller CPU unit is responsible for the overall control of this system according to claim 3: primary responsibility sends the motion control instruction (as displacement, speed, acceleration etc.) of driving chip (stepping motor); Receive packing of orders order that instruction arranges user carry out being separated and in turn storage and continuous print address space and with export stepping motor move required for pulse signal and direction signal; This controller provides all functions relevant with digital motion control, comprises the controlling functions that the stepping motors such as Position Control, speeds control and micro-step control are conventional; Read the mechanical type absolute value encoder feedback information of RS485 communication interface simultaneously, and feedback information is passed to touch screen and make user obtain service data intuitively; Make corresponding safeguard measure when there is anomaly and send alarm signal.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106610595A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Intelligent steering engine and robot arm control system |
| CN106655976A (en) * | 2016-12-22 | 2017-05-10 | 深圳恩普伺服技术有限公司 | Servo driver and driving method therefor |
| CN106683561A (en) * | 2017-02-20 | 2017-05-17 | 苏州市职业大学 | Processing demonstration system for mechanical teaching |
| CN106849787A (en) * | 2017-02-27 | 2017-06-13 | 郑州云海信息技术有限公司 | A kind of drive dynamic control device and system of gound-mapping platform |
| CN109889109A (en) * | 2019-04-24 | 2019-06-14 | 苏州易德龙科技股份有限公司 | A kind of multichannel stepper motor driver |
| CN111416557A (en) * | 2020-05-11 | 2020-07-14 | 台州中盟联动企业管理合伙企业(有限合伙) | Alternating current servo control system |
| CN113829337A (en) * | 2021-11-10 | 2021-12-24 | 云南蓝脉科技有限责任公司 | Closed-loop control six-axis mechanical arm and control method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106610595A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Intelligent steering engine and robot arm control system |
| CN106655976A (en) * | 2016-12-22 | 2017-05-10 | 深圳恩普伺服技术有限公司 | Servo driver and driving method therefor |
| CN106655976B (en) * | 2016-12-22 | 2020-05-22 | 东莞市恩普机器人技术有限公司 | Servo driver and driving method thereof |
| CN106683561A (en) * | 2017-02-20 | 2017-05-17 | 苏州市职业大学 | Processing demonstration system for mechanical teaching |
| CN106683561B (en) * | 2017-02-20 | 2022-12-30 | 苏州市职业大学 | Machining demonstration system for mechanical teaching |
| CN106849787A (en) * | 2017-02-27 | 2017-06-13 | 郑州云海信息技术有限公司 | A kind of drive dynamic control device and system of gound-mapping platform |
| CN109889109A (en) * | 2019-04-24 | 2019-06-14 | 苏州易德龙科技股份有限公司 | A kind of multichannel stepper motor driver |
| CN111416557A (en) * | 2020-05-11 | 2020-07-14 | 台州中盟联动企业管理合伙企业(有限合伙) | Alternating current servo control system |
| CN113829337A (en) * | 2021-11-10 | 2021-12-24 | 云南蓝脉科技有限责任公司 | Closed-loop control six-axis mechanical arm and control method thereof |
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